Grainy rock can be ok in spots. Some of the walls north of the rest stop are state land and require those considerations. North of Dragoon road exit are private lands (number of owners) and tread lightly.
Drive East of Benson about 17 miles on I-10 to the Dragoon road exit. Park off road to approach the "Thing" (ow boulder in exit area) or the routes to the north. The North side rest stop requires climbing a fence to access or walk in (1/3 mile) from Dragoon road. It is best not to park on I-10 proper.